A hybrid phantom including a planar surface that includes a background surface having one of a first property and a second property, and a plurality of marker surfaces. Each marker surface of the plurality of marker surfaces having the other one of the first property and the second property. The first property involves having a high thermal emissivity of 0.8 or higher and the second property involves having a low thermal emissivity of 0.2 or less. One of the first property and the second property further involves being diffuse reflective and the other one of the first property and the second property further involves being specular reflective. A method using a system comprising the hybrid phantom, a first, thermal camera, a second, three-dimensional (3D) camera, and a computer.